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Fix the bounding box call #8882

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Merged
merged 1 commit into from
May 6, 2025
Merged

Fix the bounding box call #8882

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8 changes: 7 additions & 1 deletion LibCarla/source/carla/client/Actor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,13 @@ namespace client {
}

geom::BoundingBox Actor::GetBoundingBox() const {
return GetEpisode().Lock()->GetActorBoundingBox(*this);
geom::BoundingBox bounding_box = GetEpisode().Lock()->GetActorBoundingBox(*this);
if (bounding_box.extent.x == 0.0f && bounding_box.extent.y == 0.0f && bounding_box.extent.z == 0.0f) {
return bounding_box;
}
else{
return Super::GetBoundingBox();
}
}

geom::Transform Actor::GetComponentWorldTransform(const std::string componentName) const {
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3 changes: 0 additions & 3 deletions Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
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Expand Up @@ -1348,9 +1348,6 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
BIND_SYNC(get_actor_bounding_box) << [this](
cr::ActorId ActorId) -> R<cr::BoundingBox>
{
//return cr::BoundingBox();
// Commenting it out due to an unknown bug where sometimes the server tryes to act on a destroyed actor, crashing the simulation.

REQUIRE_CARLA_EPISODE();
FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
if (!CarlaActor)
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